赵晓军,田粮川,孙文博,刘阳

• 1:河北大学电子信息工程学院

摘要(Abstract)：

为了降低大型变压器定期内部检查成本,解决大型变压器内部检查的定位问题,设计一种基于捷联惯导的大型变压器内微缆机器人定位系统。该系统搭载加速度传感器、陀螺仪传感器、摄像头等惯性测量单元,运用四阶龙格库塔法来解算姿态矩阵,结合卡尔曼滤波算法融合加速度计传感器数据,对姿态矩阵数据进行修正,从而确定机器人运动的速度及位置,同时摄像头可以对机器人的定位进行定时矫正,以保证位置的精确性。实验数据表明,该系统自主性强,短时间内导航精度高,完全符合检测系统在大型变压器内的定位需求。

关键词(KeyWords)： 捷联惯导;四阶龙格库塔法;变压器;微缆机器人;卡尔曼滤波算法;定位系统

Abstract:

Keywords:

基金项目(Foundation): 大型变压器内部检测的微型无缆潜测机器人研究与设计(16211824)~~

作者(Author): 赵晓军,田粮川,孙文博,刘阳

DOI: 10.16652/j.issn.1004-373x.2018.24.009

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